IMPLEMENTATION OF PATH EXECUTION AND MONITORING SYSTEM THROUGH ANDROID SMARTPHONE IN A MOBILE ROBOT
By
Nicholas Iskandar 1-1111-036
BACHELOR’S DEGREE in
MECHANICAL ENGINEERING – MECHATRONICS CONCENTRATION FACULTY OF ENGINEERING AND INFORMATION TECHNOLOGY
SWISS GERMAN UNIVERSITY EduTown BSD City
Tangerang 15339 Indonesia
August 2015
Revision after Thesis Defense on 7th August 2015
Nicholas Iskandar I hereby declare that this submission is my own work and to the best of my knowledge, it contains no material previously published or written by another person, nor material which to a substantial extent has been accepted for the award of any other degree or diploma at any educational institution, except where due acknowledgement is made in the thesis.
Nicholas Iskandar
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Student Date
Approved by:
Yunita Umniyati, PhD
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Thesis Advisor Date
Erikson F. Sinaga, ST., M.Kom
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Thesis Co-Advisor
Date
Dr. Ir. Gembong Baskoro. M.Sc.
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_ Dean
Date
Nicholas Iskandar ABSTRACT
IMPLEMENTATION OF PATH EXECUTION AND MONITORING SYSTEM THROUGH ANDROID SMARTPHONE IN A MOBILE ROBOT
By
Nicholas Iskandar Yunita Umniyati, PhD, Advisor Erikson F. Sinaga, ST., M.Kom, Co-Advisor
SWISS GERMAN UNIVERSITY
The main intention of this thesis project is to be able to design, develop and implement a detecting, sorting and collecting mobile robot. The mobile robot consist of a lot of sensors, such as ping sensors, camera, Ampere meter sensor and encoder and the mobile robot should be able to detect an object by using its ping sensor, then sort it based on its color by using the camera and finally it collect the object and will be collected at its specific storage. In this project, for the programming part, I mainly focus on the path execution and monitoring system. The path execution is used to develop a path that is the most efficient for the robot and the monitoring system is to monitor the status of the robot and it is connected to an Android device by using Bluetooth.
Keywords: Mobile Robot, Path Execution, Android, Monitoring System, Bluetooth, Encoder.
Nicholas Iskandar
© Copyright 2015 by Nicholas Iskandar
All rights reserved
Nicholas Iskandar DEDICATION
I dedicated this project for my family, friends, the “Animals” and Jesus Christ.
Nicholas Iskandar ACKNOWLEDGEMENTS
First of all, I would like to thank Jesus Christ for giving me the opportunity to be able to accomplish this thesis project.
I also wish to thank my family who always support me in high and low during this thesis.
My greatest gratitude for Ms. Yunita Umniyati and Mr. Erikson F. Sinaga for helping and guide me and also giving me some ideas and solutions in order to accomplish this thesis project.
I would like to thank my friends that also support me for the last 4 years, especially the
“Animals” which gave me the best support that they can.
Lastly, I would like to give my greatest gratitude to Besaliel Christianto Gunawan, as my partner on this project. He gave me the best support and helps that really helpful on accomplishing this project.
Nicholas Iskandar TABLE OF CONTENTS
Page
STATEMENT BY THE AUTHOR ... 2
ABSTRACT ... 3
DEDICATION ... 5
ACKNOWLEDGEMENTS ... 6
TABLE OF CONTENTS ... 7
LIST OF FIGURES ...11
LIST OF TABLES ... 13
CHAPTER 1 - INTRODUCTION ... 14
1.1 Background ... 14
1.2 Thesis Goal ... 15
1.3 Thesis Scope... 16
1.4 Thesis Limitation ... 16
1.5 Thesis Organization ... 16
1.6 Thesis Division ... 17
CHAPTER 2 - LITERATURE REVIEW ... 18
2.1 Introduction ... 18
2.2 Microcontroller... 18
2.3 DC Motor ... 19
2.4 Servo Motor ... 20
2.5 Bluetooth ... 21
2.6 Android OS ... 22
2.7 MIT App Inventor ... 23
CHAPTER 3 – METHODOLOGY ... 24
3.1 System Overview ... 24
3.2 System Features ... 26
3.2.1 Microcontroller ... 28
3.2.2 DC Motor ... 29
3.2.3 Servo Motor ... 31
3.2.4 Motor Driver ... 33
Nicholas Iskandar
3.2.7 Android Device ... 36
3.3 Mechanical Design ... 37
3.3.1 Mechanical System Overview... 37
3.3.2 Gripper ... 38
3.3.3 Chassis ... 41
3.3.4 Container ... 42
3.3.5 Motor Housing ... 44
3.4 Electrical Design ... 45
3.4.1 Electrical System Overview ... 45
3.4.2 Power Supply Selection ... 45
3.4.3 Voltage Regulator ... 46
3.4.4 Motor Powering and Wiring ... 47
3.4.5 Sensor Powering ... 48
3.4.6 Mini PC Powering ... 48
3.4.7 Microcontroller Powering ... 49
3.5 Software and Programming Design... 50
3.5.1 Software and Programming System Overview ... 50
3.5.2 Path Execution ... 51
3.5.3 Monitoring System ... 52
3.5.4 Synchronization ... 53
CHAPTER 4 – RESULTS AND DISCUSSIONS ... 54
4.1 Overview ... 54
4.2 Mobile Robot Manufacturing Result ... 54
4.2.1 Gripper ... 54
4.2.2 Chassis ... 57
4.2.3 Container ... 59
4.2.4 Separator ... 59
4.2.5 Unloading Gate ... 60
4.2.6 Motor Housing ... 61
4.3 Electrical Test ... 62
4.3.1 Power Supply ... 62
4.3.2 Voltage Regulator ... 63
Nicholas Iskandar
4.4 Motor Test ... 65
4.4.1 DC Motor ... 65
4.4.2 Servo Motor ... 71
4.5 Sensor Test ... 73
4.5.1 Encoder Test ... 73
4.5.2 Voltmeter Test... 75
4.6 Programming Test... 76
4.6.1 Path Execution ... 76
4.6.2 Monitoring System ... 81
4.6.3 Serial Communication ... 87
CHAPTER 5 – CONCLUSION AND RECOMENDATION ... 90
5.1 Conclusion ... 90
5.2 Recommendations and Further Development ... 91
GLOSSARY ... 92
REFERENCE ... 93
APPENDIX A-TECHNICAL DRAWING ... 94
A.1 Chassis ... 94
A.2 Container ... 99
A.3 Gripper ... 109
A.4 Motor Housing ... 119
APPENDIX B-PROGRAMMING CODE ... 120
B.1 Path Execution... 120
B.2 Monitoring System ... 136
B.2.1 MIT App Inventor Program ... 136
B.2.2 Arduino Program ... 138
B.3 Serial Communication ... 140
APPENDIX C–DATASHEET ... 141
C.1 Accumulator ... 141
C.2 Standard Servo Parallax ... 142
C.3 Microcontroller... 144
C.4 H-Bridge ... 147
C.5 LM-7805 Voltage Regulator ... 149
C.6 Servo Motor HD-1160A ... 152
C.7 Servo Motor HD-1501 MG ... 153
Nicholas Iskandar APPENDIX D- BILL OF MATERIAL ... 160 CURRICULUM VITAE ... 161
